Sophie, 57, looked elegant in a blue £795 patterned Peter Pilotto dress, while Edward donned a smart navy blazer, light blue shirt and tan slacks.
The royal couple started their journey with a visit to the gymnastics arena before going to watch the rugby sevens match.
The Earl of Wessex mainly watched the game, at one point holding his head in his hands as he struggled to watch.
Sophie also captured moments from the match and pulled out her phone to snap photos of the action on the pitch.
Prince Edward, who is also the deputy patron of the Commonwealth Games Federation, shared a heartfelt message ahead of his visit.
He said, “The wait is over.
“The XXII Commonwealth Games are about to begin and all eyes will be on Birmingham and the West Midlands of England for the next 11 days.
“To all athletes, officials, spectators and visitors, I would like to welcome you and thank you all for coming. Without you, it simply wouldn’t be the great sports festival it is.
“Yet the Games are more than just about sport, they are the greatest manifestation of the Commonwealth: our extraordinary collection of countries linked by a myriad of bonds of common interests and relationships.
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“The parallel arts festival is an integral part of this celebration, reminding us of our shared values and the tremendous talent that exists in our family of nations.”
The Commonwealth Games is a multi-sport event that celebrates the diversity of the 56 member states of the Commonwealth.
It is the UK’s biggest sport since the 2012 London Olympic and Paralympic Games.
Other members of the royal family are expected to attend events during the tournament as well.
The Duke and Duchess of Cambridge will attend the Games on August 2.
However, due to ongoing mobility issues, the Queen will miss the sporting event.
She is expected to stay at Balmoral Castle in Scotland during the 11-day match.
Despite having access to a private helicopter and plane, the 96-year-old monarch reportedly remains too vulnerable to tolerate the long journey.
She will instead be represented by other members of the company, including her eldest child, Prince Charles, who attended the opening ceremony in her place on July 28.